Tannaz Khajeaian

Work place: Research and Development Unit, SanatkadeheSabze Pasargad Company, (S.S.P. Co), Shiraz, Iran

E-mail: tannazi.kh@gmail.com


Research Interests: Artificial Intelligence, Robotics, Data Structures and Algorithms, Control Theory, Logic Calculi, Logic Circuit Theory


Tannaz Khajeaian is a Master in computer engineering from Islamic Azad University. She has received her BE (Bachelor of Engineering) degrees in Computer Engineering. She is currently working as a researcher in Dept. of Research & Development at the Iranian Research and Development Company SSP.Co, Shiraz, Iran. Her current research interests are in the area of Artificial Intelligence, Robotics, Nonlinear control and Fuzzy logic theory and application.

Author Articles
Design Sliding Mode Modified Fuzzy Linear Controller with Application to Flexible Robot Manipulator

By Mahdi Mirshekaran Farzin Piltan Zahra Esmaeili Tannaz Khajeaian Meysam Kazeminasab

DOI: https://doi.org/10.5815/ijmecs.2013.10.07, Pub. Date: 8 Oct. 2013

This paper studies the use of Modified Proportional-Integral-Derivative Sliding Mode Controller (MPIDSMC) control used to control a flexible manipulator. The control gain in the MPIDSMC controller has been determined in an empirical way so far. It is a considerable time-consuming process because the control performance depends not only on the control gain but also on the other parameters such as the payload, references and PID joint servo gains. Hence, the control gain must be tuned considering the other parameters. In order to find the optimal control gain for the MPIDSMC controller, a fuzzy logic approach is proposed in this paper. The proposed fuzzy logic scheme finds an optimum control gain that minimizes the tip vibration for the end effector of the flexible manipulator. Tuned gain response results are compared to results for other types of gains. The effectiveness of using the fuzzy logic appears in the reduction of the computational time and the ability to tune the gain with different loading condition and input parameters.

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